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TECHNICAL PAPERS

Partial Contact Force Controllability in Active Wheeled Vehicles

[+] Author and Article Information
B. J. Choi, S. V. Sreenivasan

Department of Mechanical Engineering The University of Texas at Austin Austin, TX 78712

J. Mech. Des 123(2), 169-175 (Feb 01, 1998) (7 pages) doi:10.1115/1.1357872 History: Received February 01, 1998
Copyright © 2001 by ASME
Topics: Force , Vehicles , Screws
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References

Waldron,  K. J., 1995, “Terrain Adaptive Vehicle,” ASME J. Mechanical Design, 117B, pp. 107–112.
Reister,  D. B., and Unseren,  M. A., 1993, “Position and constraint force control of a vehicle with two or more steerable drive wheels,” IEEE Trans. Rob. Autom., 9, No. 6, pp. 723–731.
Choi,  B. J., and Sreenivasan,  S. V., 1999, “Gross Motion Characteristics of Articulated Mobile Robots with Pure Rolling Capability on Smooth Uneven Surfaces,” IEEE Trans. Rob. Autom., 15, pp. 340–343.
Choi,  B. J., Sreenivasan,  S. V., and Davis,  P. W., 1999, “Two Wheels Connected by an Unactuated Variable Length Axle on Uneven Ground: Kinematic Modeling and Experiments,” ASME Journal of Mechanical Design, 121, pp. 235.
Sreenivasan, S. V., and Nanua, P., 1996, “Kinematic Geometry of Wheeled Vehicle Systems,” The 24th ASME Mechanisms Conference, Irvine, CA, 96-DETC-MECH-1137.
Cherif,  M., 1999, “Motion Planning for All-Terrain Vehicles: A Physical Modeling Approach for Coping with Dynamic and Contact Constraints,” IEEE Trans. Rob. Autom., 15, pp. 202–218.
Hacot, H., Dubowsky, S., Bidaud, P., 1998 “Analysis and Simulation of a Rocker-Bogie Exploration Rover,” Proc. Of the Twelfth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Springer Verlag, Wien New York.
Kumar,  V., and Waldron,  K. J., 1990, “Force Distribution in Walking Vehicles,” J. of Mechanical Design, 112, pp. 90–99 March.
Kumar,  V., and Waldron,  K. J., 1988, “Force Distribution in Closed Kinematic Chains,” IEEE Trans. Rob. Autom., 4, No. 6.
Hunt, K. H., 1990, Kinematic Geometry of Mechanisms, Clarendon Press, Oxford.
Selig, J. M., 1996, “Geometrical Methods in Robotics (Monographs in Computer Science),” Springer Verlag, ISBN: 0387947280.
Lipkin,  H., and Duffy,  J., 1988, “Hybrid Twist and Wrench Control for a Robotic Manipulator,” ASME J. of Mech., Trans., and Autom. in Design, 107, pp. 138–144.
Sreenivasan,  S. V., Waldron,  K. J., and Mukherjee,  S., 1996, “Globally Optimal Force Allocation in Active Mechanisms with Four Frictional Contacts,” ASME J. of Mechanical Design, 118, pp. 353–359.
Sreenivasan,  S. V., and Nanua,  P., 1999, “Kinematic Geometry of Wheeled Vehicle Systems,” ASME J. of Mech. Des., 121, No. 1, March.
Rimon,  E., and Burdick,  J. W., 1995, “A Configuration Space Analysis of Bodies in Contact-II: 2nd Order Mobility,” Mech. and Mach. Theory, 30, No. 6, pp. 913–928.
Park, J. H., 1997, “Force/Torque Sensor for Sensing the Wheel-Terrain Contact conditions of an Off-Road Vehicle,” M. S. Thesis, The University of Texas at Austin.
Choi, B. J., and Sreenivasan, S. V., 1999 “Force Analysis Of Overconstrained, Overactuated Robotic Mechanisms,” Processings of The Tenth World Congress On The Theory Of Machines And Mechanisms, Oulu, Finland, June 20–24, 1999.
Featherstone, R., 1987, Robot Arm Dynamics, Kluwer Academic Publishers.
Sreenivasan,  S. V., and Waldron,  K. J., 1996, “Displacement Analysis of an Actively Articulated Wheeled Vehicle Configuration With Extensions to Motion Planning on Uneven Terrain,” ASME J. of Mechanical Design, 118, pp. 312–317.

Figures

Grahic Jump Location
A fully-parallel kinematic chain vehicle model
Grahic Jump Location
(a) Active three wheeled vehicle, and (b) Active six legged vehicle with three legs in contact with surface (each leg is equally spaced on the vehicle body by 60 deg)
Grahic Jump Location
Contact angle λi and four reciprocal wrench systems (axis x is on the wheel plane and parallel to the x axis)
Grahic Jump Location
Leg ‘i’ of the example ALV

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